The former couple met on the set of their film Firstborn and dated for seven years in the ’80s and early ’90s before calling it quits.

“It taught me how I love,” the Divorcestar told PEOPLE and Entertainment Weekly Editorial Director Jess Cagle of her relationship with the actor, who struggled with drug and alcohol abuse during much of their time together, ultimately leading to their demise.

Adds Parker, 51, “And what’s the difference between loving and taking care of people and what’s necessary, and what grown-ups should and shouldn’t do for one another.”

It’s never too early to start priming those vocal cords — especially if you’re Ciara‘s son!

“Ain’t nobody dope as me, I’m dressed so fresh so clean,” the singer, 30, sings into the camera in an Instagram video she posted Wednesday night — taken perhaps right before 2-year-old Future Zahir‘s bath time?

And while their four children — Emmie, 6, Duke, 8, Ella, 9, and Drake, 11 — do occasionally appear in their reality show, they’re not subjected to filming multiple takes and the Gaineses don’t show their faces in photoshoots.

“They’re so young and we want to give them the chance to have a normal childhood,” Joanna says in this week’s issue of PEOPLE.

A specific emotion she can relate to personally is a popular one: guilt.

“[Parenting] changes you in every possible way, but there’s a struggle, there’s a conflict that exists, which is you also want to maintain this other part of your life,” the Divorcestar told PEOPLE and Entertainment Weekly Editorial Director Jess Cagle.

“The reason it’s a conflict, usually, is that you like the other life, too,” adds the actress, 51. “Someone [told me] that working mothers who work outside of home feel guilty about work because they like the work.”